Fuzzy Logic Control of Quadrotor Intelligent Systems & Soft Computing K. OYTUN YAPICI BİRKAN TUNÇ

QUADROTOR CONCEPT Rotate Left Rotate Right Going Up Move Right 1 A quadrotor has four motors located at the front, rear, left, and right ends of a cross frame. The quadrotor is controlled by changing the speed of rotation of each motor. The front and rear rotors rotate in a counter- clockwise direction while the left and right rotors rotate in a clockwise direction to balance the torque created by the spinning rotors.

DYNAMIC MODEL 2 C: Force to Moment Scaling Factor

PROPERTIES OF DYNAMIC MODELPHYSICAL VALUES & CONSTRAINTS PROPERTIES OF DYNAMIC MODEL, PHYSICAL VALUES & CONSTRAINTS Physical Values:Constraints: To avoid crash is required. This is restricted with the outputs of the fuzzy logic controllers. 3 Rotations are not affected by translations. Angular subsystem is linear. System is underactuated. System has coupling effects. System is unstable.

CONTROL STRATEGY 4 Angular Subsystem Translational Subsystem X Z Y θ Total Thrust FxFx FzFz Angular subsystem will be controlled independent from translational subsystem with 3 fuzzy logic controllers. X and Y motion will be controlled through the angles θ and ψ with 2 fuzzy logic controllers. Z motion will be controlled with one fuzzy logic controller.

X AND Y CONTROLLER 5 Error Change of Error θ, Ψ General Properties of FLCs Mamdani type inference Max-min composition Center of gravity defuzzification Two inputs, one output 9 rules Triangular MFs

θ AND Ψ CONTROLLER 6 Error Change of Error Rule Base U2, U3

Φ AND Z CONTROLLER 7 Error Change of Error U4 Error U1

SIMULINK BLOCK DIAGRAM 8

x y z 9 ANIMATION 1

x y z 10 ANIMATION 2

QUESTIONS ???